JP4923719B2 - Facility inside and outside vehicle guidance system, facility side guidance device, vehicle side guidance device, and facility inside and outside vehicle guidance method - Google Patents

Description

  The present invention relates to a facility internal / external vehicle guidance system including a vehicle guidance in a facility such as a parking lot using near field wireless communication such as DSRC (Dedicated Short Range Communication), a facility side guidance device, a vehicle side guidance device, and a facility inside / outside The present invention relates to a vehicle guidance method.

  Patent Document 1 uses a two-way wireless communication system such as DSRC to automatically settle a parking fee for a car that uses a parking lot (paragraph 0025 of Patent Document 1). The photographed image obtained by photographing is subjected to image processing by the background difference method to determine the vacancy state of each parking place (paragraph 0025 of Patent Document 1), and information for guiding the car to the vacant parking place is provided on the roadside machine. From the vehicle to the vehicle side guidance device. The vehicle side guidance device displays the message “There is an empty space in the“ front ”,“ back right ”or“ back left ”, provides voice guidance, and displays an image. (Paragraph 0031 of Patent Document 1).

  Patent Document 2 discloses a guidance route for smoothly guiding a car to an entrance of a parking lot in consideration of the entrance or exit of the parking lot when searching for a guidance route with a parking lot as a destination or a departure place (Patent Literature 2). 3 (b) in FIG. 2, or a car navigation device that searches for a guidance route (FIG. 4 (b), FIG. 5 (b) and FIG. 6 (b) in Patent Document 2) whose exit is the starting point of the guidance route. Is disclosed.

  In Patent Document 3, when searching for a guide route from a departure place to a destination using a map database in a storage device of a car navigation device, the current location as the departure place is a link (adjacent node) registered in the map database. If it is not on the road part between) or a node (a connection point of a plurality of road parts, for example, an intersection), the node closest to the current location is set as the departure point in the guide route search, and the guide route is searched. Disclose the improvement of adverse effects on That is, when the vehicle is in a facility such as a parking lot, the node as the starting point of the guidance route searched by the car navigation device based on the map database is set to a point far away from the facility exit. Therefore (paragraphs 0027 and 0028 of Patent Document 3), the facility data including the exit coordinate data is stored in the storage device together with the map database, and in the guidance route search when the current location is in the facility, the map database is used, While searching for the first guidance route (referred to as “search route” in Patent Document 3) starting from a nearby node, the exit coordinate data is read from the storage device, and from the facility exit The second guidance route to the start point of the first guidance route (referred to as “detailed route” in Patent Document 3) is searched, and the user is informed. It has given (paragraph 0029 of Patent Document 3).

  In Patent Document 4, a server and a car navigation device in a parking lot are connected by a wireless LAN, and when a car equipped with the car navigation device leaves the parking lot, information on the current location and destination is sent from the car navigation device to the server. (S102 → S200 → S202, S106 → S206 in FIG. 4 of Patent Document 4), the server searches for a guidance route from the current location to the destination via a predetermined parking lot exit (S208 in FIG. 4 of Patent Document 4). ), Information on the guidance route is sent to the car navigation device (S210 → S108 in FIG. 4 of Patent Document 4), and the guidance route is displayed on the display of the car navigation device (FIG. 4 in Patent Literature 4). S110).

Further, in Patent Document 4, in the paragraph 0028, the server sends route information including the estimated parking position, the exit position information, and the parking lot to the in-vehicle device, and the in-vehicle device searches for the first and second guidance routes. Is also disclosed.
JP 2003-58925 A JP 2004-12425 A JP 2005-37275 A JP 2005-284699 A

  When the driver wants to leave the parking lot, in a large parking lot, the road in the parking lot is complicated and the distance from the parking place to the exit, so the user can see the guidance route display of the car navigation device, In many cases, it is desired to display the guidance route from the parking place to the exit.

  The in-parking guidance system of Patent Document 1 wirelessly transmits photographic image information in a parking lot from a roadside device to an in-vehicle device, and displays the direction of an empty parking place on a display on the parking lot side, or a situation image of a parking lot However, it does not search for a long guide route from the parking place to the exit and display it on the parking lot map.

  The car navigation devices of Patent Documents 2 and 3 provide an appropriate guidance route to the entrance of the parking lot for vehicles heading to the parking lot, and the starting point from the exit for vehicles leaving the parking lot. Search for and display the guidance route that is the exit itself, not the distant point, but search for the guidance route from the current location in the parking lot to the exit, or display the guidance route on the map image in the parking lot There is no.

  In the known car navigation devices including the car navigation devices of Patent Documents 1 to 3, the map in the facility such as a parking lot is not included in the map database of the storage device, and from the own vehicle position in the parking lot to the exit It is difficult to search and display the guidance route.

  Therefore, in the case of Japanese Patent Application No. 2006-105855 (filing date: April 7, 2006, hereinafter referred to as “prior application”), the applicant of the present invention has described the parking lot image information from the roadside unit of the parking lot to the in-vehicle unit, and Detailed information related to the exit position on the parking lot image is transmitted, and when the car leaves the parking lot, the in-vehicle device searches the guidance route from the current location to the parking lot exit based on the detailed information and parks on the display. It has been disclosed that the guidance route to the parking lot exit is displayed on the parking lot image.

  However, the prior application did not mention specific processing for appropriately searching and displaying a guidance route from the position of the vehicle in the parking lot to a destination outside the parking lot such as a home.

  On the other hand, Patent Document 4 discloses a process in which a car in a parking lot searches for and displays a guidance route to a destination outside the parking lot (FIG. 5 of Patent Document 4). When the search for the guidance route from the parking lot to the outside of the parking lot is performed on the server side, it is necessary to notify the server of the current location and destination information from the in-vehicle device along with the search request from the driver. A communication infrastructure for ensuring communication with the vehicle-mounted devices over the entire parking lot, such as a LAN, is required.

  In addition, as described in paragraph 0028 of Patent Document 4, when a guidance route search is performed on the in-vehicle device side, the vehicle position and exit as information necessary for the search after the user instructs the guidance route search The position information must be received from the server. In this case as well, a communication infrastructure for ensuring communication with the vehicle-mounted device over the entire parking lot, such as a wireless LAN, is required.

  In Patent Document 4, in Paragraph 0028, when carrying out a guidance route search on the in-vehicle device side, the in-vehicle device receives only information on the parking position and exit position information from the server, and uses the exit position information as a relay point. 7 (a), (c) and FIG. 8 exemplify a screen in which a parking lot guidance route is superimposed on a parking lot map. Even if the machine further receives a parking map from the server, it does not disclose or suggest a specific method for superimposing the guidance route on the parking map at the correct position on the display.

  The object of the present invention is that even if in-facility information such as facility exits is not stored in the map database of the storage device of the vehicle, or even if communication with the server is difficult at the departure point in the facility, An in-facility guidance system that can accurately find the guidance route from the departure point in the facility to the destination outside the facility via the facility exit of the facility, and displays the guidance route at the correct position on the map on the car display It is to provide a facility side guidance device, an automobile side guidance device, and a facility guidance method.

  The in-facility guidance system of the present invention includes a facility-side guidance device and an automobile-side guidance device.

Facility guidance system of the present invention exhibit a roadside device you send information to the car-side guiding device, an image information generating means for generating facility image information, the exit region generated by the image information generating means exit image information, the exit position information indicating the position of the outlet region, and at least the passage region, generating detailed information of the squares information of a plurality of square regions free space and the outlet region is divided into squares like to generate including details and means, and transmission control means for transmitting the facility image information and the detailed information from the roadside device.

Automotive side induction device of the present invention, from the installed roadside machine facilities設内, the facility image information, exit image information indicating an exit area of the facility in the image information, the exit position information indicating a position of the outlet region and at least the passage area, free space and the outlet region and the information receiving means for receiving the detailed information including a square information of a plurality of square areas partitioned into square shape, the detailed information received by the information receiving means Among them, passage extraction means for extracting the mesh information of the passage area, and the number of squares of the passage area from the vehicle position in the facility to the exit area are extracted by the passage extraction means, An in-facility guidance route search means for searching for a guidance route .

Facility inner and outer automotive side induction method of the present invention, the facility guidance device, a facility in the image information, the exit image information indicating an exit area of the facility in the image information, the exit position information indicating the position of the outlet region, and at least an information generating step of generating, and including details of squares information of a plurality of square areas passage area, free space and the outlet space separated into squares like, the facility to the facility within the image information and the detailed information a transmission control step that sends the automobile side guiding device from the roadside device guidance system in the motor vehicle side induction device information reception for receiving the facility image information and the detailed information from the installed the roadside device on site A path extracting step of extracting the grid information of the path area out of the detailed information, and a path area of the path area from the vehicle position in the facility to the exit area. Extracting numbers, including a facility guidance route searching step of searching for facilities in the guidance route from the squares number.

  According to the present invention, in-facility image information and detailed information are transmitted wirelessly from a roadside machine of a facility-side guidance device to a vehicle-side guidance device mounted on a vehicle. Based on the map database and map database exit information, and the in-facility guide route part of the guide route based on the image exit information of the detailed information, respectively, to search the entire guide route without any trouble Can do.

  According to the present invention, the in-facility guide route is displayed by using the detailed information including the image exit information in the display of the in-facility guide device superimposed on the in-facility image on the display of the vehicle side guide device. The part can be displayed at the correct position on the in-facility image.

  FIG. 1 is an explanatory diagram of the parking lot 10. The parking lot 10 is provided adjacent to the store 11 for customers of the store 11. In the parking lot 10, an entrance 12 for entering the automobile 25 into the parking lot 10 and an exit 13 for leaving the automobile 25 from the parking lot 10 are installed at predetermined locations. In the parking lot 10 of FIG. 1, the entrance 12 and the exit 13 are one each. The parking lot 10 is paid for all hours, or only if you purchase more than a certain fee, the parking fee from the admission time to the predetermined time is free, and after that, it is charged, but all time is free It may be a parking lot. Gate devices 20 and 21 are installed at the entrance 12 and the exit 13, respectively. The gate devices 20 and 21 are opened only when the automobile 25 is allowed to enter and leave, respectively.

  In the parking lot 10, along with the parking places 15, a passage 16 is provided for the automobile 25 to enter and leave the parking places 15. The parking place 15 is divided into a parking place that is not in use (hereinafter referred to as “empty parking place”) 17 and a parking place that is in use (hereinafter referred to as “used parking place”) 18.

  The roadside machine 24 is installed at the entrance 12 and is capable of two-way communication with the vehicle 25 at the entrance 12 by DSRC with an in-vehicle communication device (not shown) of the vehicle 25. The server 26 is connected to the roadside device 24 and transmits / receives data to / from the in-vehicle communication device via the roadside device 24. Based on the simple map information and the detailed information received from the roadside device 24 via the in-vehicle communication device, the car navigation device displays the map image in the parking lot 10 on its display and leads to the empty parking place 17 or the exit 13. The route is displayed.

  The simple map related to the simple map information is typically an image image representing a map in the parking lot 10 with a simple picture. A parking lot image 28 described later in FIG. 3 is an example of a simple map. The empty state of each parking place on the simple map, for example, by shooting the parking lot with the output of each sensor deployed in each parking lot and the digital still camera, and analyzing the output of the digital still camera, It can be detected.

  The detailed information is information related to the simple map information. Specifically, (a) information related to the division diagram 30 and the mesh 31 described in FIG. 4 described later, and (b) the vehicle-mounted communication device is the roadside device 24. Information relating to the number of the cell 31 that receives the simple map information and the detailed information from (c) scale information as the ratio of the actual size of the parking lot 10 to the size of the parking lot image 28, (d) in the parking lot image 28 Information related to the direction and (f) category information of each cell 31 are included.

  With regard to the detailed information related to the division diagram 30 and the cell 31 of (a) described above, each cell 31 can specify the position on the division diagram 30 by the cell number assigned thereto. Regarding the detailed information related to the number of the cell 31 where the in-vehicle communication device of (b) receives the simple map information and the detailed information from the roadside device 24, the current location on the division map 30 at the time of communication from the cell number (communication time) The location of the vehicle at the

  With regard to the category information of each cell 31 in the above (f), the category indicates which one of the cell 31 corresponds to the passage 16, the empty parking place 17, the busy parking place 18, and the like. For convenience of explanation, the cells corresponding to the passage 16, the empty parking place 17 and the in-use parking place 18 will be referred to as a passage cell, an empty cell, and an in-use cell, respectively. When the category is a passage grid, the category information is further given subcategory information corresponding to the branching point of the passage 16 and the direction in which the advanceable direction is the upper, lower, left or right square. The

  Link information is also added to the category information. The link information is information indicating which cell is vertically and horizontally adjacent to each cell. As will be described later with reference to FIG. 4, each cell is assigned a 2-digit hexadecimal ID indicating the position on the division diagram 30. Accordingly, by checking the link information ID of each cell, the adjacent cell is determined. Then, by referring to the category information of the adjacent cell, it is possible to detect which of the passage 16 and the empty parking place 17 the adjacent cell is.

  FIG. 2 shows the guidance state of the automobile 25 by the parking lot guidance system 22 applied to the parking lot 10. The parking lot guidance system 22 includes an automobile side guidance device (not shown) of the automobile 25 together with the roadside machine 24 and the server 26. The vehicle side guidance device is, for example, a car navigation device equipped with a DSRC communication device as an in-vehicle communication device. The roadside machine 24 and the car navigation device of the automobile 25 can communicate with each other by the DSRC 27 at the entrance 12 when the automobile 25 passes through the entrance 12. The roadside device 24 push-distributes the above-described simple map information and detailed information to the car passing through the entrance 12.

  Upon receipt of the simple map information and the detailed information at the entrance 12, the car navigation device of the automobile 25 switches from the map display on the display based on the map database to the map display based on the parking lot guidance system 22. Based on the received simple map information and detailed information, the car navigation device searches for a guide route to a predetermined empty parking place 17 and displays it on the map image in the parking lot 10 and displays it on the display. The driver of the automobile 25 sees the map image in the parking lot 10 and the guidance route displayed on the display, moves the automobile 25 to a predetermined empty parking place 17, and puts his automobile 25 in the empty parking place 17. Park.

  The parking position of the automobile 25 in the parking lot 10 is stored in the non-volatile storage device of the car navigation device as the current grid at the start of the next exit (the grid is described in detail in FIG. 3 and subsequent figures). When the driver uses the facility and leaves the parking lot 10, the engine of the automobile 25 is started, the car navigation device is activated, and the guidance route from the parking place to the exit 13 is displayed on the display of the car navigation device. It is instructed to be displayed.

  The car navigation device searches for a guidance route to the exit 13 based on the current grid, and displays it on the display together with the map in the parking lot. The driver causes the vehicle 25 to travel to the exit 13 based on the guidance route of the display.

  FIG. 3 shows a parking lot image 28 for the parking lot 10. The parking lot image 28 is an image image representing a map in the parking lot 10 with a simple picture. In the image image, the positions of the parking place 15, the passage 16, the empty parking place 17, and the in-use parking place 18 in the parking lot 10 can be visually recognized. Whether each parking place 15 is an empty parking place 17 or an in-use parking place 18 can be detected from, for example, a sensor provided in each parking place 15 and the output of each sensor. The parking lot image 28 transmitted from the roadside machine 24 is based on the latest output of each sensor every time there is a change in the output of each sensor or every certain time interval has passed. It is updated to the one changed to the visual display corresponding to the empty parking place 17 or the used parking place 18.

  Since the position of the passage 16 in the photographed image of the parking lot 10 is fixed, for example, the road portion is removed from the parking lot image 28 created by photographing at each time, and all the remaining photographed image portions are parked. By performing image processing with the background difference method for the standard parking lot image where the location 15 is an empty parking location 17, the parking location 17 at the time of each shooting becomes either an empty parking location 17 or an in-use parking location 18 It can be detected. The parking lot image 28 shown in FIG. 3 is appropriately color-coded to facilitate identification of the passage 16, the empty parking place 17, and the busy parking place 18.

  In addition, when the vertical / horizontal dimension ratio of the parking lot image 28 and the vertical / horizontal dimension ratio of the display of the car navigation device of the automobile 25 do not coincide with each other, the entire parking lot image 28 fits in the display. When the image is reduced at the vertical / horizontal ratio, an image portion other than the parking lot image 28 may appear on the display. In order to prevent unnecessary parts from being displayed on the display, the car navigation device individually adjusts the vertical and horizontal scales of the parking lot image 28, or the server 26 (FIG. 1) is a standard display of the car navigation device. The vertical and horizontal scales of the parking lot image 28 may be converted to individually adjusted so as to match the vertical / horizontal dimension ratio and transmitted to the automobile 25.

FIG. 4 associates the partition map 30 with the parking lot image 28. The scale of the segmented map 30 after the association is adjusted so as to match the parking lot image 28. The division diagram 30 is divided into a plurality of cells 31 having the same shape and the same size arranged in a lattice pattern. The numbers of vertical and horizontal grids in the section map 30 are adjusted based on the size of the parking lot image 28.
In FIG. 30, the scale is adjusted so that the size matches the parking lot image 28.

  Of the detailed information described above, each direction information and each scale information of the parking lot image 28 and the section map 30 are used for accurately superimposing the parking lot image 28 and the section map 30. In addition, if each direction and each scale of the parking lot image 28 and the division | segmentation figure 30 are predetermined between the parking lot side guidance apparatus and the motor vehicle side guidance apparatus, it cannot be overemphasized that transmission of those information is unnecessary. .

  The size of the cells 31 is set such that the positions of the passages 16 and the parking places 15 in the parking lot 10 can be accurately determined by specifying the cells 31 while avoiding being smaller than necessary. Since the parking place 15 is a horizontally long rectangle in FIG. 4, the vertical dimension of the grid 31 is associated with the width of the parking place 15 or less. Further, the horizontal dimension of the mesh 31 is associated with the smaller dimension or less of the width of the passage 16 extending in the vertical direction of the parking lot image 28 and the depth of the parking place 15.

  In order to discriminate each cell 31 in the division diagram 30, each cell 31 is assigned a cell number, and the cell number is, for example, a hexadecimal 2-digit number according to the vertical and horizontal arrangement order in the division diagram 30. A specific example of the cell number is as shown in FIG. 4, and the hexadecimal value of the right digit of the cell number corresponds to the order in the horizontal direction from the reference cell (the cell in the upper left corner in FIG. 4). The hexadecimal value of the digit corresponds to the vertical order from the reference grid. Note that the cell number whose hexadecimal value of the left digit is 0 is entered in FIG. 4 with the 0 omitted.

  The cells 31 are classified into the categories of the passage 16, the empty parking place 17, and the busy parking place 18. In some cases, the dividing line and the outlines of the passage 16, the empty parking place 17, and the busy parking place 18 may be out of alignment. The category of the mesh 31 that is included in any one of the passage 16, the parking place 17, and the in-use parking place 18 is the aisle 16, the empty parking place 17, or the in-use parking that includes the eye 31. The category is associated with the place 18. The category of the grid 31 spanning a plurality of passages 16, empty parking places 17, and in-use parking places 18 corresponds to the passage 16, empty parking places 17, and in-use parking places 18 in which the squares 31 are most widely included. The assigned category. As described above, even if the classification of the cells 31 is rough, the guidance route in the parking lot 10 can be presented to the driver in the parking lot 10 on the display of the car navigation device with no problem.

  FIG. 5 is an explanatory diagram of how to search for a guidance route to a predetermined empty parking place 17 in the parking lot 10. In addition, in order to identify each cell 31, a cell number is attached behind the cell. The cell “3F” is the cell 31 at the entrance 12, that is, the cell 31 from which the vehicle-side guidance device of the automobile 25 has received data from the roadside device 24. The vehicle-side guidance device of the vehicle 25 can communicate with the roadside device 24 at the position of the grid “3F”. The current location mark 33 indicates the current location of the automobile 25 in the division diagram 30, and 35 indicates the traveling direction mark in the one-way passage 16. The current location mark 33 also indicates the traveling direction of the automobile 25 depending on its direction. The current location also changes with the movement of the car 25 in the parking lot 10 after entering, but the current position may be detected from GPS information, and the movement of the car 25 from the grid "3F" It can also be detected by tracking using a speedometer.

  In the division diagram 30, the branch cells 31 of the passage 16 are cells “1”, “E”, “31”, “3E”, “71”, “7E”, “C1”, “CE”, “F1”, It is “FE”. The cell “EF” is a cell 31 corresponding to the outlet 13. A description will be given of a procedure for searching for a guide route 34 for guiding the automobile 25 to a predetermined empty parking place 17 in the parking lot 10 and a guide type.

S (Step) 40: Routes from the current location “3F” to each branch location “E”, “3E”, “7E”, “CE”, “FE” that can be moved (the route is composed only of passage locations) .)) Is calculated. The calculation of the number of cells uses link information described later, and the calculation of the number of cells based on the link information will be described in detail in the next S41. The movable branch mesh means that the direction in which the passage mesh can travel is taken into consideration. That is, in the one-way portion of the passage 16, traveling in the reverse direction is prohibited, so that among the branch cells, only the first branch cell in the advanceable direction becomes a movable cell.

The number of squares on the route from the current location “3F” to each branch cell “E”, “3E”, “7E”, “CE”, “FE” that can be moved is as follows.

"3F"-"E" cell count: "2F"->"1F"->"F"->"E" 4 cells "3F"-"3E" cell size: "3E" 1 cell "3F"- Number of cells in "7E": "4F"->"5F"->"6F"->"7F"->"7E" 5 cells "3F"-Number of cells in "CE": "4F"->"5F"->"6F “→” 7F ”→“ 8F ”→“ 9F ”→“ AF ”→“ BF ”→“ CF ”→“ CE ”10 squares“ 3F ”−“ FE ”cell count:“ 4F ”→“ 5F ” → "6F" → "7F" → "8F" → "9F" → "AF" → "BF" → "CF" → "DF" → "EF" → "FF" → "FE"

S41: It is determined whether or not there is an empty parking place 17 between each branch cell for which the number of route cells has been calculated in S40 and the next movable branch cell. In order to determine whether or not there is an empty cell (empty parking place 17) between the next movable branch cells, the above-described link information in the category information is used. That is, based on the link information, a maximum of four squares that are adjacent vertically and horizontally to each square 31 are found, and based on the category information of these neighboring squares, whether the neighboring square is a passage square or a branch within the passage square It can be detected whether it is a dot or an empty grid.

  The processing of S41 based on the link information will be specifically described. The link information of the cell “3F” describes the IDs “2F”, “3E”, and “4F” of the adjacent cell. Since the link information is assigned to all the cells, the entire arrangement state of the cells can be grasped by tracing from any one cell. Next, when determining the number of required squares, for example, when calculating the number of path squares in the movement from “3F” to “7E”, “2F”, “3E”, and “4F” that can be moved from “3F” are paths. It is determined whether the mesh is in use or in use (parking place 18 in use). If it is in use, the movement calculation after that is finished. If it is a passage mesh, the movement calculation is continued. When moving to “4F”, “3F”, “4E”, and “5F” are adjacent. Since “3F” has already passed, it is removed from the next movement destination cell of “4F”. As a result of similarly extending from “4E” and “5F” to the adjacent cell, “7E” is reached. The smallest number of cells to reach “7E” is determined as the number of cells necessary.

  When there is an empty parking place 17, the number of route squares to the empty parking place 17 is calculated, added to the result of S40, and stored. The added value is the total number of cells from the starting place “3F” of the parking lot 10 to the empty parking place 17. If there is no empty parking place 17, the number of route squares to the next movable branch square is calculated.

  For example, the processing of S41 in the case of the branch cells “E” and “CE” is as follows. First, in the case of the branch cell “E”, there is no empty parking space 17 → the next movable branch cell is “1” → the number of route cells to the branch cell “1” is 13 → the total cell from the current cell The number is the processing order of 13 + 4 = 17. In the case of the branch cell “CE”, there is “D8” as the vacant parking place 17 → the number of route cells to D8 → the total number of cells from the current cell is 10 + 7 = 17.

S41 is repeated until the empty cell is reached or there is no next movable branch cell.

S42: Among the arrival routes that reach the same empty cell 31, the arrival route with the smallest total number of cells is selected as the guide route 34. When there is only one vacant parking place 17, the arrival route with the minimum total number of cells can be simply selected as the guide route 34. When there are a plurality of vacant parking places 17, a predetermined one vacant parking place 17 is identified based on the category selection of the parking place by the driver, and vacant parking other than the vacant parking places associated with the identified vacant parking place 17 The place 17 can be regarded as a parking place 18 in use, and the guide route 34 to the specific empty parking place 17 can be searched for.

S43: With respect to the guide route 34, during the search, the passage history information traced from the departure point cell to the empty cell is recorded. Therefore, based on the recorded information, an image in which the guide route 34 is superimposed on the parking lot image 28 is displayed on the display of the car navigation device.

S44: In order to reflect the current location on the parking lot image 28 as the vehicle 25 moves from the cell "3F", if the GPS location is used or GPS information is not available, Then, the information of the gyrometer and the speedometer is used for detection, and the display position of the current position mark 33 is updated to the position of the current position grid.

  As soon as the automobile 25 arrives at the target empty parking place 17, the route guidance ends. In addition, what is displayed on the display of the car navigation device of the automobile 25 is typically only the parking lot image 28 and the guide route 34 in FIG. The division diagram 30, the cell 31 and the cell number are not displayed on the display. However, the division map 30, the cell 31 and / or the cell number may be appropriately displayed on the display.

  Here, for convenience of explanation, as shown in FIG. 5, a method for searching and displaying a guide route 34 from the entrance 12 to the empty parking place 17 is referred to as an “empty parking place guiding method”. The method of searching and displaying the guide route 34 from the predetermined parking place in the parking lot 10 to the exit 13 when leaving the vehicle will be referred to as an “exit guidance method”.

  FIG. 6 is an explanatory diagram of searching for the guide route 34 in the exit guide method. The grid corresponding to the parking place is assumed to be “26”. The exit guidance method is the same as the empty parking place guidance method, except that the starting point and the arrival point of the guidance route 34 are changed, and the other search processing contents are the same.

  That is, in the exit guidance method, the cell “26” is set as the starting point instead of the cell “3F” corresponding to the entrance 12. Further, instead of the cell corresponding to the empty parking place 17 when there is only one empty parking place 17 in the empty parking place guiding method, the cell “EF” corresponding to the exit 13 is set. Then, similarly to the empty parking place guidance method, the guidance route 34 from the cell “26” to “EF” is searched. The specific procedure of the exit guidance method is as follows.

S50 (corresponding to S40 of the empty parking place guidance method): The number of cells on the route from the current cell “26” to the movable branch cell is calculated. The calculation of the number of cells is also performed based on the link information as described in detail in S41. The movable branch cell is “31”, the route is “36” → “35” → “34” → “33” → “32” → “31”, and the number of cells is 6 squares.

S51 (corresponding to S41 of the empty parking place guidance method): It is determined whether or not there is an exit 13 between each branch square for which the number of route squares is calculated in S50 and the next movable branch square. . In S51, link information is used as in S41. That is, based on the link information, a maximum of four squares that are adjacent vertically and horizontally to each square 31 are found, and based on the category information of these neighboring squares, whether the neighboring square is a passage square or a branch within the passage square Whether it is a dot grid or an exit grid will be detected.

  If there is an exit 13, the number of path squares to the exit 13 is calculated, added to the result of S50, and stored. The added value is the total number of cells from the parking cell "26" to the exit 13. If there is no exit 13, the number of path squares to the next movable branch square is calculated.

  For example, the processing of S51 in the case of the branch cell “71” is as follows. There is no exit 13 → the next branch cell that can be moved is “71” → the number of route cells to the branch cell “71” is 4 → the total number of cells from the current cell is 6 + 4 = 10.

S51 is repeated until the exit grid “EF” corresponding to the exit 13 is reached or the next movable branch grid disappears.

S52 (corresponding to S42 of the empty parking place guidance method): Among the arrival routes that reach the exit cell “EF”, the arrival route with the smallest total number of cells is selected as the guidance route 34. In the example of FIG. 6, the guide path 34 is “36” →... → “31” →... → “71” →... → “7E” →. → "EE".

S53 (corresponding to S43 of the empty parking place guidance method): For the guidance route 34, the passage history information traced from the departure point to the exit point is recorded during the search. Therefore, based on the recorded information, an image in which the guide route 34 is superimposed on the parking lot image parking lot image 28 is displayed on the display of the car navigation device.

S54 (corresponding to S44 of the empty parking location guidance method): In order to reflect the current location on the parking lot image 28 as the automobile 25 moves from the mesh "26", the GPS location information is changed. If it is used or GPS information cannot be used, it is detected using the information of a gyrometer or a speedometer, and the display position of the current location mark 33 is updated to the current location of the grid.

  As soon as the car 25 arrives at the exit 13, the route guidance ends. In addition, what is displayed on the display of the car navigation device of the automobile 25 is typically only the parking lot image 28 and the guide route 34 in FIG. The division diagram 30, the cell 31 and the cell number are not displayed on the display. However, the division map 30, the cell 31 and / or the cell number may be appropriately displayed on the display.

  FIG. 7 is an explanatory diagram when the driver returns from the parking place of the parking lot 10 to the home 60. Among the elements and parts shown in FIG. 7, the same elements and parts as those in FIG. 1 are designated by the same reference numerals and the description thereof will be omitted, and the main points will be described. The parking lot 10 in FIG. 7 has a total of three exits 13a to 13c. Each exit 13a-c leads to a DB (map database) registered road 61 outside the parking lot 10, and the driver of the automobile 25 passes through one of the exits and then passes through a predetermined DB registered road 61. Return to home 60. The automobile 25 is equipped with an automobile side guidance device 80 (FIG. 10) described later.

  The driver of the automobile 25, after completing the business in the facility, instructs the automobile side guidance device 80 to search for a guidance route from the vehicle position to the home 60 in order to return to the home 60 from the parking place of the parking lot 10. To do. The guidance route that the vehicle-side guidance device 80 has to search for passes through one of the exits 13a to 13c and reaches the home 60, and the guidance route from the departure point to the exit (hereinafter referred to as “parking”). The in-park guide route portion ") exists in the parking lot 10, and the guide route portion from the exit to the home 60 (hereinafter referred to as" external parking guide route portion ") exists outside the parking lot 10.

  As described above, the detailed information received by the automobile 25 from the roadside device 24 at the entrance 12 includes information (exit grid position information) indicating the positions of the exits 13a to 13c on the parking lot image 28. Thereby, the car navigation apparatus of the automobile 25 can search the in-parking guidance route portion from the current location to the designated exit without any trouble by the above-described exit guidance method, regardless of which exit 13a to 13c is designated.

  On the other hand, the guidance route portion outside the parking lot is searched by using the map database of the map database unit 91 (FIG. 10). Even if there is data on the location, the data on where the exits 13a to 13c of the parking lot 10 are on the map of the map database is the same as the passage data and parking location data in the parking lot 10, I don't have it. Therefore, if the vehicle side guidance device 80 searches for the parking lot 10 and the home 60 as the starting point and the destination based on the data of only the map database in the map database unit 91, the guidance route portion in the parking lot cannot be searched. It becomes only the guidance route part outside a parking lot. In addition, the starting point of the outside guidance route portion of the parking lot does not coincide with the exit of the parking lot 10 and becomes a predetermined point on the road adjacent to the parking lot 10 or a node (intersection) closest to the parking lot 10. The route from the exit of the parking lot 10 to the starting point of the outside guidance portion of the parking lot will be omitted.

  In response to this, the detailed information transmitted from the roadside device 24 to the vehicle side guidance device 80 at the entrance 12 includes the location information of each facility exit on the parking lot image 28 and the facility exit location on the map of the map database, for example, Include the latitude and longitude of each exit 13a-c. The vehicle-side guidance device 80 can search for a guidance route portion outside the parking lot from the designated exit to the destination based on the latitude and longitude of each of the exits 13a to 13c and the data in the map database.

  FIG. 8 is a schematic explanatory diagram of guidance route search by the automobile side guidance device 80 mounted on the automobile 25. As described above, the vehicle-side guidance device 80 receives detailed information including the latitude and longitude A, B, and C of the exits 13a to 13c from the roadside device 24 at the entrance 12 of the parking lot 10. When the vehicle-side guidance device 80 receives an instruction for searching for a guidance route from the parking location to the home 60 from the driver of the vehicle 25, each of the exits 13a to 13c calls the departure location (in FIG. 8, "virtual vehicle location"). And a search is made for a guide route with the home 60 as the destination. In this example, since there are three exits, three guidance routes are searched.

  The vehicle-side guidance device 80 selects the shortest route among the three guidance routes as the parking route guidance route portion 64. Next, it is determined which of the exits 13a to 13c is the exit that is the starting point of the parking lot guidance path portion 64. Since the detailed information includes information related to the correspondence between the latitude and longitude of each exit 13a to 13c and each exit grid, the guide route in the parking lot from the starting point of the guide route portion 64 outside the parking lot based on the correspondence information. An exit cell to be the destination of the portion 65 can be determined.

  In the example of FIG. 8, the starting point of the parking lot guidance path portion 64 is the exit 13c. The vehicle-side guidance device 80 searches the parking lot guidance route portion 65 with the parking place and the exit 13c as the starting point and the destination, respectively, by the aforementioned exit guidance method (S50 to S54). By matching the end point of the in-parking guidance route portion 65 and the starting point of the outside-parking guidance route portion 64, the entire guidance route from the parking place to the home 60 is completed.

  FIG. 9 is a configuration diagram of the parking lot side guidance facility 70 installed in the parking lot 10. The parking lot side guidance facility 70 includes a roadside machine communication control unit 71 and a parking lot information management unit 72 in addition to the roadside machine 24 described in FIG. The roadside machine communication control unit 71 and the parking lot information management unit 72 are mounted on the server 26 (FIG. 1). In FIG. 1, the roadside machine 24 is shown only at the entrance 12, but when managing the parking fee, one vehicle is used for detecting the leaving time of each car 25 and calculating the parking fee. For the server 26 (roadside machine communication control unit 71 and parking lot information management unit 72), the roadside machine 24 is also installed at each of the exits 13a to 13c.

  The parking lot information management unit 72 performs other parking lot information management such as information processing related to parking fee management in addition to information processing related to guidance of the car 25 in the parking lot 10 such as generation of the parking lot image 28 and detailed information. Also do. The roadside machine communication control unit 71 controls each roadside machine 24, transmits data from the parking lot information management unit 72 from a predetermined roadside machine 24, and receives data received by the roadside machine 24 from the parking lot information management unit 72.

  FIG. 10 is a configuration diagram of the automobile side guidance device 80. The control unit 81 controls all modules in the vehicle side guidance device 80. The DSRC communication control unit 82 communicates with the roadside device 24 by DSRC as an in-vehicle communication device.

  The operation unit 83 is a touch panel / hard key / remote controller or the like, and is used when the driver gives an instruction to the vehicle side guidance device 80, and sends the instruction content to the control unit 81. The display unit 84 is an LCD monitor or the like, and displays information from the control unit 81.

  The own vehicle position recognition unit 88 not only calculates the own vehicle position (current location) based on the GPS data received from the satellite, but also appropriately travels the vehicle 25 based on input from sensors such as a vehicle speed pulse sensor and a gyrometer. And the vehicle position is calculated based on the travel locus. The route search unit 89 performs route search from the departure point and the destination. The guide unit 87 determines one route as the current guide route from the routes searched by the route search unit 89 according to a predetermined standard, and executes guidance based on the guide route. The specific content of guidance by the guide unit 87 is to display a guidance route on the display unit 84 or to play a guidance voice from a speaker (not shown) when the automobile 25 reaches a predetermined point.

  The map database unit 91 holds a map database composed of map information. Although the map information in the map database includes a map outside the parking lot 10 and data such as the DB registration road 61, the map in the parking lot 10 and data relating to the positions of the entrance 12 and the exits 13a to 13c. Is not included. The memory | storage part 93 memorize | stores the guidance path | route which searched the departure place and the destination as the points in the parking lot 10 and the parking lot 10, respectively. The map information control unit 92 switches the display screen of the display unit 84 from the parking lot image 28 to the map screen of the map database in accordance with the position of the vehicle according to the progress of the automobile 25 on the guidance route.

  FIG. 11 is a flowchart of the destination guidance processing method 100. In S101, information in the parking lot, such as simple map information and detailed information, is pushed and distributed from the roadside device 24 installed at the entrance 12 to the effective area (eg, entrance grid) by DSRC. The detailed information includes the positions (cell numbers) of the exits 13a to 13c on the parking lot image 28 and the latitude and longitude of the exits 13a to 13c.

  In S102, it is monitored whether or not the vehicle 25 equipped with the in-vehicle device capable of DSRC communication enters the effective area, and proceeds to S103 as soon as the vehicle 25 enters. S101 and S102 are processing executed in the parking lot side guidance facility 70, and the subsequent S103 and subsequent steps are executed in the automobile side guidance device 80.

  In S <b> 103, the vehicle side guidance device 80 of the vehicle 25 receives the parking lot information push-distributed by the roadside machine 24 at the entrance 12 by the DSRC communication control unit 82 and stores it in the storage unit 93. In S104, the vehicle stops at an empty cell (an empty parking place), and the engine of the automobile 25 is stopped.

  In S105, the user (driver) completes the requirements and turns on the engine for leaving the parking lot 10. At the same time, the vehicle-side guidance device 80 monitors whether the user sets a facility outside the parking lot as the destination using the existing navigation destination search function. If it is set, the process proceeds to S112, and if it is not set, the process proceeds to S109.

  S109 is a search process for the guide route 34 in the exit guide method described above with reference to FIG. 6 and S51 to S54. In the above-described exit guidance method, the case where there is only one exit in the parking lot 10 has been described, but when the parking lot 10 has a plurality of exits 13a to 13c, from among the plurality of exits, For example, the nearest exit from the vehicle position is automatically selected, or the user is made to select the desired exit (north exit, south exit, or the exit of number A-1) on the list display, and thus A guidance route to the selected exit is searched.

  In S112, the set destination information is stored in the storage unit 93. Further, the latitude and longitude information of all the exits 13a to 13c is extracted from the exit information in the parking lot information stored in the storage unit 93. In S113, the latitude and longitude extracted for each of the exits 13a to 13c is virtually set as the current location, and a guidance route from the virtual current location to the stored destination is searched based on information in the map database. The searched map database is stored in the storage unit 93. Note that the route search in S113 is a search for the parking lot guidance route portion 64 described above with reference to FIG.

  In S114, a route search is performed for all the exits 13a to 13c, and the completion is monitored. If not completed, the process returns to S113, and if completed, the process proceeds to S117.

  In S 117, the shortest route is extracted from all route search results in the storage unit 93 and other route information is deleted from the storage unit 93. In FIG. 8 described above, the outside parking lot guide route portion 64 from the exit 13c is selected as the shortest route. In S118, the exit corresponding to the shortest route extracted in step 117 (exit 13c in the example of FIG. 8) is determined.

  In S119, guidance to the exit 13c on the DSRC map information (example: screen of FIG. 6) is executed. The specific content of S119 is the search process of the guidance route 34 in the exit guidance system mentioned above in FIG. 6 and S51-S54. However, the destination of the guidance path 34 in the exit guidance system is the exit 13c.

  In S120, the automobile side guidance device 80 monitors whether the automobile 25 has passed the roadside machine 24 installed at the exit 13c and the parking fee settlement has been completed. The monitoring is executed based on the presence / absence of communication from the in-vehicle device of the automobile 25 to the roadside device 24 installed at each of the outlets 13a to 13c. As soon as the settlement in S120 is completed, the process proceeds to S124, and if it is not completed, the process returns to S119.

  In S124, when the car 25 exits the exit 13c and enters the DB registration road 61, the map information control unit 92 uses the map based on the map database of the map database unit 91 from the DSRC received map information (eg, the screen of FIG. 6). The screen of the display unit 84 is switched to information. At that time, the parking lot guidance route portion 64 information stored in the storage unit 93 is read, and the parking lot guidance route portion 64 is displayed on the map of the display unit 84. In S125, guidance is given to the home 60 based on the map database, and the destination guidance processing method 100 is terminated as soon as the home 60 is reached.

  FIG. 12 is a configuration diagram of the in-facility / outside vehicle guidance system 140. The facility inside / outside vehicle guidance system 140 includes a facility side guidance device 150 and a vehicle side guidance device 180 mounted on the vehicle. The facility-side guidance device 150 includes a roadside machine 160 installed at a predetermined position in the parking lot, and information can be transmitted from the roadside machine 160 to the automobile-side guidance device 180 via a radio 145 such as DSRC.

  The parking lot inside / outside vehicle guidance system described above with reference to FIGS. 7 and 8 is a specific example of the facility inside / outside vehicle guidance system 140. The facility in the facility internal / external vehicle guidance system 140 is not limited to the parking lot 10, and may be an arbitrary facility such as a safari park, a camping site, or an outdoor movie theater where you can watch movies while riding in a vehicle.

  The communication between the roadside device 160 and the vehicle side guidance device 180 is typically bidirectional communication, but it may be unidirectional communication from the roadside device 160 to the vehicle side guidance device 180. In DSRC, since the communication distance is short, the vehicle-side guidance device 180 can communicate with the road-side device 160 only during a period when the vehicle on which the vehicle-side guidance device 180 is mounted is sufficiently close to the road-side device 160. In addition, the communication position (information receiving place) can be limited to a very narrow place.

  The communication position can be determined as the vehicle position during the communication period. The communication position is typically the entrance of the facility, but is not limited thereto. It may be a point that enters the facility a little from the entrance, a point on the passage from the entrance to the first branch location, or a predetermined point in the facility.

  FIG. 13 is a block diagram of the facility-side guidance device 150. In addition to the roadside device 160, the facility-side guidance device 150 includes an image information generation unit 151, a detailed information generation unit 152, and a transmission control unit 153.

  The image information generation unit 151 generates in-facility image information. The detailed information generating unit 152 includes at least detailed information including image exit information indicating the facility exit position on the in-facility image and vehicle-side guidance device exit information indicating the facility exit position usable by the vehicle-side guidance device 180. Is generated. The transmission control unit 153 causes the in-facility image information and the detailed information to be transmitted from the roadside device 160.

  The facility exit position on the map of the map database of the vehicle side guidance device 180 is represented by, for example, longitude and latitude.

  The facility exit position on the in-facility image may be represented by, for example, dividing the in-facility image according to the division diagram 30 (FIG. 6), assigning a number as an address to each cell in the division diagram 30, and representing the cell number. it can.

  Preferably, the detailed information includes a passage position on the in-facility image, an information reception position on the in-facility image from the roadside device 160, a branch point position of the passage, an allowable traveling direction of the vehicle in the passage, a direction of the in-facility image information, And / or information on the scale of the in-facility image information.

  The branch point position information relates to which path part corresponds to the branch point of the path. The traveling direction information relates to which direction is the allowable traveling direction of the automobile for each passage portion.

  FIG. 14 is a block diagram of the vehicle side guidance device 180. The vehicle-side guidance device 180 includes a map database holding unit 181, an information receiving unit 182, an out-facility guidance route part searching unit 183, an in-facility guidance route part searching unit 184, and a display control unit 185. Preferably, the vehicle-side guidance device 180 further includes a host vehicle position calculation unit 190 and an exit selection unit 191.

  The map database holding means 181 holds a map database related to map information outside the facility. The information receiving means 182 receives the facility image information from the roadside device 160 installed in the facility, the exit information for the image indicating the facility exit position on the facility image, and the facility exit position that can be used by the vehicle side guidance device. And detailed information including at least the vehicle-side guidance device exit information.

  The in-facility guidance route portion searching means 183 is configured to search for an out-of-facility guidance route portion from the facility exit to the destination in the map database in the search for the guidance route from the departure point as the vehicle position in the facility to the destination outside the facility. Search based on map database exit information. The in-facility guidance route portion searching means 184 searches the in-facility guidance route portion from the departure point to the facility exit of the facility based on the image exit information in the guidance route search.

  The display control means 185 displays an image obtained by superimposing the in-facility guidance route portion on the in-facility image generated from the in-facility image information during the guidance period within the facility, and on the map generated from the map database during the guidance period outside the facility. An image obtained by superimposing an outside facility guidance route portion on the display 188 is displayed.

  The in-facility image information is typically a simple graphic in which the inside of the facility is simply displayed as a graphic, but may alternatively be an image obtained by photographing the inside of the parking lot with a digital camera. When there are a plurality of facility exits, the vehicle-side guidance device 180 receives detailed information including association information between the facility exit position on the in-facility image and the facility exit position on the map of the map database of the vehicle-side guidance device 180. Alternatively, the facility exit position on the in-facility image corresponding thereto may be detected based on the facility exit position (for example, latitude and longitude) on the map of the map database of the automobile side guidance device 180. In that case, detailed information on the latitude and longitude of the information receiving location may be required.

  The departure place in the facility is typically a parking place where a car has been stopped until now, but is not limited thereto. The driver takes the car out of the parking area into the passage, and after a while, instructs the route search to the exit, changes his mind after entering the facility, and immediately leaves the facility without parking. May be instructed to search for a route to the exit.

  Facility exits are not limited to exits 13a-c, as in FIG. Depending on the parking lot, after exiting these exits 13a to 13c, the road in the private land continues for a while and then the DB registration road 61 may be reached. In that case, the point in the facility immediately before entering the DB registration road 61 becomes the exit of the facility.

  A general car navigation apparatus cannot display a map in a facility although information on where the facility is located on the map generated from the map database is stored in the map database. It is not possible to appropriately search for a guidance route with a point outside the facility such as a home as a starting point.

  On the other hand, in the vehicle-side guidance device 180, by transmitting the in-facility image information from the roadside machine 160 to the vehicle-side guidance device 180, the inside of the facility that can be used as a map in the facility is displayed on the display 188 of the vehicle-side guidance device 180. An image can be displayed, and a guide route to the destination outside the facility is searched based on the detailed information, and the guide route portion inside the facility and the guide route portion outside the facility are respectively displayed on the map in the facility and the map database. The images can be superimposed and displayed on the display 188. In addition, the display in which the in-facility guidance route portion is superimposed on the in-facility image is appropriate guidance guidance until the own vehicle leaves the facility.

  In a typical driver's use of a parking lot, the driver stops the vehicle in an empty parking area in the parking lot, turns off the vehicle engine, gets out of the vehicle, completes the errand, and then again Return to and start the engine. While the engine is stopped, the vehicle-mounted electrical device such as the navigation device is in a power-off state. However, even when the driver starts the engine and immediately instructs the guidance route search, the vehicle-side guidance device 180 does not provide guidance. It is required to detect the position of the vehicle in the parking lot as a starting point for route search without any trouble and promptly.

  To cope with this, for example, the detailed information includes information necessary for searching for a guidance route on the facility image to an empty parking place. The in-facility guidance route portion searching means 184 then specifies in which vacant parking place the own vehicle is parked on the facility image, and searches the in-facility guidance route portion using the specified vacant parking location as a departure point. It is preferable.

  As another countermeasure example, the detailed information includes information related to the information reception position on the in-facility image from the roadside device 160. The own vehicle position calculation means 190 calculates the own vehicle position on the in-facility image based on the information reception position information on the in-facility image. Then, the in-facility guidance route portion searching unit 184 may search for the in-facility guidance route portion using the own vehicle position calculated by the own vehicle position calculation unit 190 as a departure point.

  It is possible to detect where the vehicle is parked, that is, the parking position of the vehicle on the in-facility image by following the movement locus of the current location from the information receiving position to parking. At the start of parking, the parking position as the current location is stored in a predetermined nonvolatile memory of the car navigation device, and the parking position is read from the nonvolatile memory as the current location at the start of leaving at the end of parking. The movement trajectory of the current location from the information receiving location can be measured using GPS, or when GPS is disabled, using a gyrometer or a speedometer.

  The detailed information received by the information receiving means 182 further includes a passage position on the in-facility image, a branch point of the passage, an allowable traveling direction of the car in the passage, a direction of the in-facility image, and / or a scale of the in-facility image. Such information can be included.

  When there are a plurality of facility exits, the exit selecting means 191 selects one facility exit according to a predetermined standard. Then, the own vehicle position calculation unit 190 searches the outside facility guidance route part searching unit 183 and the inside facility so as to search the facility outside guidance route part starting from the selected facility exit and the facility guidance route part starting from the end point. The guidance route part searching means 184 is instructed.

  The facility exit selected according to the predetermined criterion is, for example, a facility exit that minimizes the outside guidance route portion, a facility exit that minimizes the in-facility guidance route portion, or a facility exit designated by the user.

  Preferably, in the in-facility guidance route portion search means 184, the in-facility guidance route portion search divides the in-facility guidance route portion in-facility image into a grid array grid and associates each position of the in-facility image with the grid. (Example: FIG. 6). The in-facility guidance route portion searching means 184 sets the square route that can reach the exit square after following the continuous passage square from the current location as the in-facility guidance route portion.

  Typically, each cell has an equal shape and an equal size. When a plurality of in-facility guidance route portions to the exit grid are found, the in-facility guidance route portion search means 184 determines the length of each in-facility guidance route portion from the number of passage meshes in each in-facility guidance route portion, The in-facility guide route portion having the minimum length is used as the final in-facility guide route portion (the guide route to be presented to the driver this time).

In the in-facility guidance route portion searching means 184, in the in-facility guidance route portion search, instead of using a route route that can be reached from the current location to the exit route by following a continuous passage route, the in-facility guidance route portion is used.
A system similar to the search for the out-of-facility guidance path portion in the out-of-facility guide path part searching means 183, for example, the Dijkstra method can also be used. In that case, the in-facility guided route partial search means 184 treats a continuous row of passage meshes connecting the branch cells adjacent to each other as a node and a link.

  Preferably, the own vehicle position calculation means 190 continues to calculate the own vehicle position both inside and outside the facility during the own vehicle movement period after the search instruction from the driver, and the display control means 185 includes the own vehicle position calculation means. A current location mark (eg, current location mark 33 in FIG. 6) is displayed at the position of the vehicle on the in-facility image calculated by 190.

  FIG. 15 is a flowchart of the in-facility / outside-vehicle guidance method 200. In S201, in the facility-side guidance device 150, the in-facility image information, the image exit information indicating the facility exit position on the in-facility image, and the facility-side guidance device indicating the facility exit position that can be used by the vehicle-side guidance device 180 And detailed information including at least exit information. In S <b> 202, the in-facility image information and the detailed information are transmitted from the roadside machine 160 of the facility side guidance apparatus 150 to the automobile side guidance apparatus 180 by radio 145.

  In S203, in the guidance route search from the departure place as the own vehicle position in the facility to the destination outside the facility, the outside guidance route portion from the facility exit to the destination is based on the map database and the map database exit information. The vehicle side guidance device 180 searches. In S204, in the guidance route search, the in-facility guidance route portion from the departure point to the facility exit of the facility is searched by the vehicle side guidance device 180 based on the exit information for the image.

  In S205, an image obtained by superimposing the in-facility guide route portion on the in-facility image generated from the in-facility image information in the in-facility guidance period, and an out-of-facility on the map generated from the map database in the out-of-facility guidance period An image in which the guidance path portions are superimposed is displayed on the display 188 of the automobile side guidance device 180.

  In the in-facility / outside car guidance method 200, the concrete example of the in-facility / outside car guidance system 140 can be applied as it is with respect to a specific example of the facility, a specific example of detailed information, and a specific example of calculating the vehicle position in the facility.

  A vehicle position calculation step can be added to the facility inside / outside vehicle guidance method 200. In the own vehicle position calculating step, the own vehicle position on the in-facility image is calculated during a period in which the own vehicle is in the facility. Then, the in-facility guidance route portion is displayed on the display 188, and the current location mark (eg, current location mark 33 in FIG. 6) is displayed on the in-facility image during the period in which the host vehicle is being guided.

  Although the present invention has been described with respect to various specific embodiments, the present invention is not limited to this, and each component in the various specific embodiments is modified (including deletion) without departing from the gist of the invention. And can be materialized. Various inventions can also be formed by replacing constituent elements between various specific forms or combining a plurality of constituent elements in various specific forms.

It is explanatory drawing of a parking lot. It is a figure which shows the guidance condition of the motor vehicle by the parking lot guidance system applied to a parking lot. It is a figure which shows the parking lot image about a parking lot. A partition map is associated with a parking lot image. It is explanatory drawing about the method of searching for the guidance route to the predetermined empty parking place in a parking lot.

It is search explanatory drawing of the guidance route in an exit guidance system. It is explanatory drawing when a driver | operator returns to a home from the parking place of a parking lot. It is a schematic explanatory drawing about the guidance route search by the motor vehicle side guidance device mounted in a motor vehicle. It is a block diagram of the parking lot side guidance facility installed in a parking lot.

It is a block diagram of the motor vehicle side guidance apparatus. It is a flowchart of the destination guidance processing method. It is a block diagram of a facility internal and external vehicle guidance system. It is a block diagram of a facility side guidance device. It is a block diagram of a motor vehicle side guidance device. It is a flowchart of the inside-and-outside vehicle guidance method.

Explanation of symbols

140: Facility inside / outside vehicle guidance system, 145: Wireless, 150: Facility side guidance device, 151: Image information creation means, 152: Detailed information creation means, 153: Transmission control means, 160: Roadside machine, 180: Vehicle side guidance device , 181: Map database holding means, 182: Information receiving means, 183: Out-facility guidance route part searching means, 184: In-facility guidance route part searching means, 185: Display control means, 188: Display, 190: Own vehicle position calculation Means, 191: Exit selection means, 200: Inside / outside vehicle guidance method.

Claims (11)

A facility internal and external vehicle guidance system comprising a facility guidance device and a vehicle guidance device,
The facility side guidance device is:
A roadside device you send the information to the car-side guiding device,
And image information generating means for generating facility image information,
Outlet image information indicating an exit region generated by the image information generating means, the outlet position information indicating a position of the outlet region, and at least the passage region, the free space and the outlet region of the plurality of square regions that are separated into square shape and detailed information generating means for generating including detailed information the square information,
And transmission control means for transmitting the facility image information and the detailed information from the roadside device,
With
The vehicle side guidance device is :
And information receiving means for receiving the facility image information and the detailed information from the installed the roadside machine facilities 設内,
Of the detailed information received by the information receiving means, passage extracting means for extracting the mesh information of the passage area;
In-facility guidance route search means for extracting the number of cells in the passage area from the vehicle position in the facility to the exit region by the passage extraction means, and searching for the in-facility guidance route from the number of cells.
A vehicle guidance system inside and outside the facility characterized by comprising: The vehicle side guidance device is:
Map database holding means for holding a map database related to map information outside the facility;
An off-facility guidance route search means for searching an off-facility guidance route from the exit area to a destination outside the facility based on the map database and the exit position information;
For guidance within the facility, an image in which the in-facility guidance route is superimposed on the in-facility image information is displayed on the display, and for guidance outside the facility, an image in which the outside guidance route is superimposed on the map database is displayed on the display. Display control means for
The facility internal / external vehicle guidance system according to claim 1, further comprising: The vehicle side guidance device is:
When there are a plurality of exit areas, one exit area is selected according to a predetermined criterion, and the selected exit area is set as the start point of the outside guidance path and the end point of the inside guidance path. 3. The facility internal / external vehicle guidance system according to claim 2, further comprising an exit selection unit that instructs the guidance route search unit and the in-facility guidance route search unit. And a roadside device you send the information to the car side guiding device,
And image information generating means for generating facility image information,
Outlet image information indicating an exit region generated by the image information generating means, the outlet position information indicating a position of the outlet region, and at least the passage region, the free space and the outlet region of the plurality of square regions that are separated into square shape and detailed information generating means for generating including detailed information the square information,
And transmission control means for transmitting the facility image information and the detailed information from the roadside device,
A facility-side guidance device comprising: From the installed roadside machine facilities設内, the facility image information, said outlet image information indicating an exit area of the facility in the image information, said outlet position information indicating the position of the outlet region, and at least the passage region, the free space and and including details of squares information of a plurality of square regions that outlet region is divided into squares like, and information receiving means for receiving,
Of the detailed information received by the information receiving means, passage extracting means for extracting the mesh information of the passage area;
In-facility guidance route search means for extracting the number of cells in the passage area from the vehicle position in the facility to the exit region by the passage extraction means, and searching for the in-facility guidance route from the number of cells.
A vehicle-side guidance device comprising: Map database holding means for holding a map database related to map information outside the facility;
An off-facility guidance route search means for searching an off-facility guidance route from the exit area to a destination outside the facility based on the map database and the exit position information;
For guidance within the facility, an image in which the in-facility guidance route is superimposed on the in-facility image information is displayed on the display, and for guidance outside the facility, an image in which the outside guidance route is superimposed on the map database is displayed on the display. Display control means for
The vehicle-side guidance device according to claim 5, further comprising: The detailed information further includes empty image information indicating the empty area and position information of the empty area ,
The facility guidance route searching means, said identifying whether the vehicle position has been parked in an empty area of the facility image information throat, searching for the facility induce route free space identified as vehicle position automotive side induction device according to claim 5 or 6, wherein the to Turkey. As the outlet region when multiple Ah Ru is that selects one outlet region by a predetermined reference, a start point and an end point of the facility induction route of the facility outside induce route selected outlet region on the outside the facility induced through Michisagu search means and the facility induced through car side induction device according to claim 6 or 7, characterized in that it further comprises an outlet selection means for instructing the Michisagu search means. Exit area selected by the predetermined criterion, characterized in that the outlet region outside the facility induction route is the shortest, smallest exit area squares number of the facility guidance route, or the user is an exit the indicated area The automobile side guidance device according to claim 8 . In facility side guidance device ,
A facility image information, exit image information indicating an exit area of the facility in the image information, the exit position information indicating the position of the outlet region, and at least channel area, a plurality of free space and the outlet region is divided into squares like an information generating step of generating, and including details of squares information squares area,
A transmission control step that sends the automobile side induction apparatus the facility image information and the detailed information from the roadside device of the facility guidance system,
In the vehicle side guidance device,
An information receiving step for receiving the in-facility image information and the detailed information from the roadside machine installed in the facility;
Of the detailed information, a passage extraction step of extracting the mesh information of the passage region;
An in-facility guidance route search step for extracting the number of squares in the passage area from the vehicle position in the facility to the exit area, and searching for an in-facility guidance route from the number of squares;
A facility-side / outside vehicle-side guidance method characterized by comprising : In the vehicle side guidance device,
An out-of-facility guidance route search step for searching based on the map database acquired in advance and the exit position information from the exit area to the destination outside the facility; and
For guidance within the facility, an image in which the in-facility guidance route is superimposed on the in-facility image information is displayed on the display, and for guidance outside the facility, an image in which the outside guidance route is superimposed on the map database is displayed on the display. Display control step to
The facility internal / external vehicle side guidance method according to claim 10, further comprising:

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